version: 66.03
glider: 114
mission: 3
dive: 110
start: 10 6 108 17 53 4
data:
$ID,114
$MISSION,3
$DIVE,110
$D_SURF,5
$D_FLARE,3
$D_TGT,450
$D_ABORT,600
$D_NO_BLEED,80
$D_FINISH,10
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,210
$T_MISSION,240
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,50
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,52448
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,1
$HD_A,0.0034169999
$HD_B,0.0095870001
$HD_C,3.1312e-05
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,2110
$TGT_DEFAULT_LON,-15800
$TGT_AUTO_DEFAULT,0
$SM_CC,410
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$KERMIT,0
$N_NOCOMM,1
$N_NOSURFACE,2
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-593721.69
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,410
$PITCH_MAX,3699
$C_PITCH,2780
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,15
$PITCH_TIMEOUT,15
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.029999999
$PITCH_ADJ_DBAND,1
$ROLL_MIN,160
$ROLL_MAX,3940
$ROLL_DEG,40
$C_ROLL_DIVE,2040
$C_ROLL_CLIMB,1950
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,34
$R_STBD_OVSHOOT,66
$ROLL_AD_RATE,300
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0.029999999
$ROLL_ADJ_DBAND,1
$VBD_MIN,420
$VBD_MAX,3949
$C_VBD,2733
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0017500001
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,50
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,91.800003
$AH0_10V,61.200001
$PRESSURE_YINT,-9.99016
$PRESSURE_SLOPE,0.000116376
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,8
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,100
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,4
$ALTIM_SENSITIVITY,1
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,20
$DEVICE3,35
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$SMARTS,0
$SMARTDEVICE1,-1
$SMARTDEVICE2,-1
$COMPASS_DEVICE,33
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0044130804
$SEABIRD_T_H,0.00065298093
$SEABIRD_T_I,2.7242255e-05
$SEABIRD_T_J,2.9466562e-06
$SEABIRD_C_G,-10.002422
$SEABIRD_C_H,1.1227361
$SEABIRD_C_I,-0.0011729589
$SEABIRD_C_J,0.00016786551
$GPS1,174432,2108.315,-15751.246,39,1.2,39,9.8
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,0
$_SM_DEPTHo,1.42
$_SM_ANGLEo,-64.4
$GPS2,175209,2108.283,-15751.278,14,1.3,14,9.8
$SPEED_LIMITS,0.060,0.226
$TGT_NAME,WPT3
$TGT_LATLONG,2110.000,-15750.000
$TGT_RADIUS,1200.000
$KALMAN_CONTROL,0.213,0.076
$KALMAN_X,-38581.3,748.6,-2219.8,44017.9,-2434.7
$KALMAN_Y,-20568.1,188.4,-1036.0,6058.5,-591.5
$MHEAD_RNG_PITCHd_Wd,60.7,3871,-13.1,-7.143
$D_GRID,450
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad
$STATE,26,end surface,CONTROL_FINISHED_OK
$STATE,26,begin dive
$GC,29,-1.13,-146.0,0.0,0.0,0,102,0.00,0.00,-69.93,0.000,2,0.000,0.000,408,2091,2938
$GC,106,-1.13,-146.0,3.8,-5.0,13,130,12.05,2.55,-5.95,0.000,4,0.163,0.047,2525,626,3330
$GC,206,-1.29,-146.0,23.8,-9.1,30,213,0.12,2.33,0.00,0.000,6,0.059,0.021,2494,2021,3330
$GC,475,-1.29,-146.0,51.4,-10.3,60,479,0.00,2.45,0.00,0.000,4,0.000,0.036,2494,3446,3330
$GC,549,-1.40,-146.0,58.1,-7.7,66,553,0.00,2.38,0.00,0.000,6,0.000,0.023,2494,2029,3330
$GC,812,-1.46,-146.0,82.0,-9.6,90,816,0.15,2.45,0.00,0.000,4,0.056,0.034,2453,3446,3331
$GC,856,-1.46,-146.0,86.8,-10.4,93,862,0.00,2.35,0.00,0.000,6,0.000,0.023,2453,2041,3331
$GC,1184,-1.46,-146.0,116.8,-9.1,124,1190,0.00,0.00,0.00,0.000,6,0.000,0.000,2453,2040,3331
$GC,1513,-1.50,-146.0,145.8,-9.1,155,1517,0.00,2.42,0.00,0.000,4,0.000,0.035,2453,3449,3331
$GC,1598,-1.57,-146.0,154.0,-8.7,162,1602,0.00,2.38,0.00,0.000,6,0.000,0.024,2453,2036,3331
$GC,1924,-1.62,-146.0,182.7,-9.1,192,1928,0.12,2.40,0.00,0.000,4,0.060,0.038,2420,643,3331
$GC,1953,-1.66,-146.0,185.5,-10.8,194,1957,0.00,2.35,0.00,0.000,6,0.000,0.023,2420,2042,3331
$GC,2286,-1.66,-146.0,216.8,-8.5,216,2290,0.00,2.40,0.00,0.000,4,0.000,0.038,2421,3442,3331
$GC,2313,-1.66,-146.0,219.4,-8.3,217,2318,0.00,2.38,0.00,0.000,6,0.000,0.025,2420,2032,3331
$GC,2630,-1.66,-146.0,246.6,-9.9,232,2634,0.00,2.42,0.00,0.000,4,0.000,0.041,2420,632,3331
$GC,2675,-1.73,-146.0,250.9,-9.6,234,2679,0.00,2.38,0.00,0.000,6,0.000,0.027,2420,2034,3331
$GC,2997,-1.77,-146.0,280.0,-7.8,250,3002,0.12,2.45,0.00,0.000,4,0.067,0.041,2391,3445,3330
$GC,3042,-1.77,-146.0,284.3,-9.4,252,3046,0.00,2.40,0.00,0.000,6,0.000,0.028,2390,2033,3330
$GC,3362,-1.77,-146.0,310.9,-8.3,265,3366,0.00,2.47,0.00,0.000,4,0.000,0.041,2390,3445,3329
$GC,3390,-1.77,-146.0,313.7,-9.5,265,3394,0.00,2.40,0.00,0.000,6,0.000,0.028,2390,2034,3329
$GC,3722,-1.77,-146.0,343.1,-8.5,273,3723,0.00,0.00,0.00,0.000,6,0.000,0.000,2391,2034,3327
$GC,4047,-1.77,-146.0,373.0,-8.9,281,4048,0.00,0.00,0.00,0.000,6,0.000,0.000,2391,2034,3324
$GC,4372,-1.77,-146.0,401.6,-8.6,289,4376,0.00,2.50,0.00,0.000,4,0.000,0.044,2391,3447,3322
$GC,4406,-1.77,-146.0,404.7,-8.2,289,4412,0.00,2.42,0.00,0.000,6,0.000,0.031,2391,2033,3322
$GC,4737,-1.77,-146.0,434.7,-9.5,298,4739,0.00,0.00,0.00,0.000,6,0.000,0.000,2391,2034,3319
$STATE,4938,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4938,begin apogee
$GC,4946,-0.33,0.0,451.6,8.2,303,5064,1.55,0.00,113.45,0.920,6,0.100,0.000,2704,1939,2733
$STATE,5065,end apogee,CONTROL_FINISHED_OK
$STATE,5065,begin climb
$GC,5068,1.13,146.0,455.9,0.0,306,5191,1.45,2.58,114.93,0.892,4,0.053,0.041,3024,3352,2137
$GC,5264,0.64,146.0,448.8,11.7,310,5270,0.57,2.45,0.00,0.000,6,0.140,0.034,2922,1966,2137
$GC,5602,0.35,146.0,419.7,8.2,319,5607,0.32,2.60,0.00,0.000,4,0.126,0.054,2861,535,2134
$GC,5653,0.15,146.0,415.6,8.1,320,5658,0.25,2.47,0.00,0.000,6,0.151,0.030,2816,1961,2133
$GC,5967,0.08,146.0,394.4,7.2,328,5968,0.00,0.00,0.00,0.000,6,0.000,0.000,2816,1961,2133
$GC,6292,0.08,182.9,374.0,5.9,336,6326,0.00,2.58,27.77,0.898,4,0.000,0.048,2816,3351,1987
$GC,6361,0.09,226.8,370.6,5.6,337,6401,0.00,2.47,34.45,0.881,6,0.000,0.034,2816,1948,1808
$GC,6746,0.11,271.9,349.2,5.6,347,6788,0.00,2.58,35.90,0.881,4,0.000,0.042,2816,3359,1623
$GC,6811,0.12,305.4,345.4,6.0,348,6845,0.00,2.50,26.35,0.874,6,0.000,0.033,2816,1941,1487
$GC,7160,0.08,305.4,320.7,7.7,357,7164,0.00,2.53,0.00,0.000,4,0.000,0.043,2816,3352,1487
$GC,7194,0.03,305.4,317.6,8.5,357,7201,0.15,2.45,0.00,0.000,6,0.117,0.031,2789,1951,1487
$GC,7507,0.03,305.4,292.5,7.8,367,7511,0.00,2.47,0.00,0.000,4,0.000,0.041,2789,3353,1487
$GC,7554,0.07,305.4,289.0,7.8,369,7558,0.00,2.45,0.00,0.000,6,0.000,0.031,2789,1949,1486
$GC,7881,0.07,305.4,264.4,7.2,385,7886,0.00,2.50,0.00,0.000,4,0.000,0.040,2789,3362,1486
$GC,7945,0.16,327.1,260.2,6.4,388,7968,0.10,2.47,17.17,0.842,6,0.091,0.031,2809,1940,1398
$GC,8276,0.18,340.9,238.1,6.7,404,8293,0.00,2.53,11.23,0.819,4,0.000,0.039,2810,3353,1342
$GC,8355,0.18,340.9,232.5,7.3,406,8361,0.00,2.45,0.00,0.000,6,0.000,0.032,2810,1948,1342
$GC,8671,0.21,360.0,210.6,6.5,422,8690,0.00,0.00,15.40,0.796,6,0.000,0.000,2810,1948,1265
$GC,9005,0.23,371.5,190.2,6.7,445,9020,0.00,2.53,9.52,0.778,4,0.000,0.038,2810,3359,1218
$GC,9090,0.28,371.5,183.8,7.8,452,9095,0.15,2.45,0.00,0.000,6,0.076,0.029,2842,1950,1218
$GC,9416,0.28,371.5,156.6,7.4,482,9421,0.00,2.47,0.00,0.000,4,0.000,0.037,2842,3362,1218
$GC,9445,0.28,371.5,154.1,8.4,484,9450,0.00,2.45,0.00,0.000,6,0.000,0.028,2842,1938,1219
$GC,9774,0.28,371.5,126.9,7.5,514,9778,0.00,2.47,0.00,0.000,4,0.000,0.035,2842,3363,1219
$GC,9815,0.28,371.5,123.6,7.5,517,9819,0.00,2.42,0.00,0.000,6,0.000,0.027,2842,1949,1220
$GC,10145,0.28,371.5,97.9,7.2,547,10149,0.00,2.45,0.00,0.000,4,0.000,0.035,2842,3360,1220
$GC,10208,0.38,406.5,93.6,5.9,552,10242,0.00,2.42,27.35,0.663,6,0.000,0.027,2842,1940,1074
$GC,10561,0.46,449.3,72.8,5.7,585,10604,0.17,2.58,32.72,0.622,4,0.061,0.035,2883,3361,901
$GC,10622,0.40,449.3,68.2,7.8,590,10628,0.00,2.42,0.00,0.000,6,0.000,0.026,2883,1947,901
$GC,10884,0.40,449.3,43.5,8.6,615,10885,0.00,0.00,0.00,0.000,6,0.000,0.000,2883,1947,901
$GC,11142,0.40,449.3,24.2,8.5,645,11149,0.00,2.45,0.00,0.000,4,0.000,0.035,2883,3365,901
$GC,11184,0.40,449.3,20.4,9.0,652,11190,0.00,2.42,0.00,0.000,6,0.000,0.025,2883,1937,902
$STATE,11307,end climb,FINISH_DEPTH_REACHED
$STATE,11307,begin subsurface finish
$FINISH1,9.6,1.022787,235
$GC,11316,0.41,235.2,9.6,-8.8,674,11339,0.00,0.00,-16.62,0.000,6,0.000,0.000,2883,1937,1774
$FINISH2,7.2
$STATE,11339,end subsurface finish,CONTROL_FINISHED_OK
$STATE,11340,begin surface
$IRIDIUM_FIX,2101.76,-15743.60,311297,111159
$TT8_MAMPS,0.028379
$HUMID,1736
$INTERNAL_PRESSURE,8.04718
$TCM_TEMP,24.40
$XPDR_PINGS,12
$24V_AH,23.8,16.408
$10V_AH,10.2,9.690
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,Mmodem_TX,Mmodem_RX,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder
$DEVICE_SECS,17.300,118.025,466.250,0.000,0.000,23.056,28.217,231.734,12.000,0.000,0.000,15.485,1218.797,7878.779,540.829,1531.943,622.797,33.359,1318.967,0.000,1507.641,0.000,57.450
$DEVICE_MAMPS,162.604,55.991,919.633,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,451.788,448.593,794.362,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34736,678
$CAP_FILE_SIZE,102530,0
$CFSIZE,260165632,252280832
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,061008,175209,2108.283,-15751.278,14,1.3,14,9.8